Parking assist apparatus

1. A parking assist apparatus, comprising:

at least one sensor configured to acquire vehicle-surroundings information which is information on surroundings of a vehicle, the vehicle-surroundings information including information on an object present in the surroundings of the vehicle and information on a separation line on a road surface in the surroundings of the vehicle;

an electronic control unit (ECU) including a processor, programmed to:

determine, based on the vehicle-surroundings information, a target region, which is a region in which the vehicle is to occupy when the vehicle completes parking or exiting from a parking space, and determine, as a target path, a path along which the vehicle is to be moved from a position of the vehicle at a current point in time to the target region;

execute parking assist control in such a manner that the vehicle moves the position of the vehicle at the current point in time to the target region along the determined target path, the parking assist control including steering angle automatic control for changing a steering angle of the vehicle, driving force automatic control for controlling a driving force of the vehicle and braking force automatic control for controlling a braking force of the vehicle,

wherein, in a period from a first time point on and after a point in time at which the target path has been determined until a second time point on and after a point in time at which the vehicle has reached the target region:

notify an occupant of an operation request requesting a driving operation of the vehicle to be performed by the occupant for the parking assist control;

monitor whether or not the driving operation corresponding to the operation request has been performed by the occupant within a predetermined period after the notification of the operation request; and

when the driving operation corresponding to the operation request has not been performed by the occupant within the predetermined period, terminate the parking assist control and notify the occupant that the parking assist control is terminated.

2. The parking assist apparatus according to claim 1 ,

wherein, in a case where the driving operation corresponding to the operation request has not been performed by the occupant within the predetermined period, the ECU is further programmed to:

when an elapsed time from a point in time at which the occupant is notified of the operation request becomes equal to or longer than a first predetermined time threshold, alert the occupant that the driving operation corresponding to the operation request has not yet been performed without terminating the parking assist control; and

when the elapsed time becomes equal to or longer than a second predetermined time threshold which is longer than the first predetermined time threshold, terminate the parking assist control and notify the occupant that the parking assist control is terminated.

3. The parking assist apparatus according to claim 2 ,

wherein, in a case where there is a stop position for stopping the vehicle in the period from the first time point until the second time point, the ECU is programmed to notify the occupant of a change of a position of a shift lever as the operation request when the vehicle stops at the stop position.

4. The parking assist apparatus according to claim 1 ,

wherein, in a case where there is a stop position for stopping the vehicle in the period from the first time point until the second time point, the ECU is programmed to notify the occupant of a change of a position of a shift lever as the operation request when the vehicle stops at the stop position.